Diff: L3GD20.h

Revision:

0:175bf093daa8

Child:

1:2ebc045424af

diff -r 000000000000 -r 175bf093daa8 L3GD20.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L3GD20.h	Mon May 12 05:59:12 2014 +0000
@@ -0,0 +1,103 @@
+#ifndef MBED_SPI
+#define MBED_SPI
+#include "mbed.h"
+#include "L3GD20_Resister.h"
+/** @file
+ *
+ * This is test program.
+ */
+class L3GD20
+{
+public:
+    L3GD20(PinName miso, PinName mosi, PinName scl, PinName cs,PinName interrupt2=NC);
+    typedef enum {
+        null=0x00,WhoAmI=0x0F,CtrlReg1=0x20,CtrlReg2=0x21,CtrlReg3=0x22,CtrlReg4=0x23,CtrlReg5=0x24,Reference=0x25,OutTemp=0x26,StatusReg=0x27,OutXL=0x28,OutXH=0x29,OutYL=0x2A,OutYH=0x2B,OutZL=0x2C,OutZH=0x2D,FIFOCtrlReg=0x2E,FIFOSrcReg=0x2F,INT1Cfg=0x30,INT1Src=0x31,INT1ThsXH=0x32,INT1ThsXL=0x33,INT1ThsYH=0x34,INT1ThsYL=0x35,INT1ThsZH=0x36,INT1ThsZL=0x37,INT1Duration=0x38,READ=0x80
+    } RESISTER;
+    typedef enum {
+        Y=0x1,X=0x1<<1,Z=0x1<<2,XY=X|Y,XZ=X|Z,YZ=Y|Z,XYZ=X|Y|Z
+    } DIRECTION;
+    typedef enum {
+        BYPASSmode=0x0,FIFOmode,STREAMmode,STREAMtoFIFOmode,BYPASStoSTREAMmode
+    } FIFO_mode;
+    typedef enum {
+        none=0,empty,watermark,overrun
+    } FIFOstatus;
+    struct tagFIFO {
+        FIFOstatus status;
+        int level;
+    } FIFO;
+    struct config {
+//read and write resister
+        union CTRL_REG1 CTRL_REG1;
+        union CTRL_REG2 CTRL_REG2;
+        union CTRL_REG3 CTRL_REG3;
+        union CTRL_REG4 CTRL_REG4;
+        union CTRL_REG5 CTRL_REG5;
+        union REF_DATACAP REF_DATACAP;
+        union OUT_TEMP OUT_TEMP;
+        union STATUS_REG STATUS_REG;
+        union FIFO_CTRL_REG FIFO_CTRL_REG;
+        union INT1_CFG INT1_CFG;
+        union INT1_TSH_XH INT1_TSH_XH;
+        union INT1_TSH_XL INT1_TSH_XL;
+        union INT1_TSH_YH INT1_TSH_YH;
+        union INT1_TSH_YL INT1_TSH_YL;
+        union INT1_TSH_ZH INT1_TSH_ZH;
+        union INT1_TSH_ZL INT1_TSH_ZL;
+        union INT1_DURATION INT1_DURATION;
+    } _config;
+    struct status {
+//read only resister
+        int OUT_TEMP;
+        int STATUS_REG;
+        union FIFO_SRC_REG FIFO_SRC_REG;
+        int INT1_SRC;
+    } _status;
+//Class method
+    /** Power_OnOff
+    *
+    * @param enable L3GD20 channel
+    */
+    void start(DIRECTION enable);
+    void start(DIRECTION enable,void (*func)(anglerrates*));
+    /** stop sampling
+    */
+    void stop();
+    void sleep();
+    //only read data and calcurate dps
+    void read(anglerrates* val,DIRECTION direction);
+    //only read temperature (I don't know meanig of this data)
+    int readTemperature();
+    //L3GD20mode change need reset(bypass) when filled FIFObuffor
+    void enableFIFO(FIFO_mode mode,FIFOstatus interrupt,const int threshold);
+    //status Update
+    int updateFIFO(void);
+    anglerrates _value;
+protected:
+    //write command to resister
+    void write(RESISTER reg,int val);
+    //read resister for resister
+    void read(RESISTER reg,int* val);
+    //just send reboot command
+    void reboot();
+    //read all configration rester
+    void configReadOut(void);
+    //read all status rester
+    void statusReadOut(void);
+    //for InterruptIn function ,call userFunction in this methed
+    void interrupt(void);
+    /*
+    void datarate(uint8_t rate,uint8_t bandwidth);
+    void setDataFormat();
+    void filter(uint8_t mode,uint8_t frequency);
+    void channelSource(uint8_t channnel,uint8_t dataSelection,uint8_t interruptSelection);
+    void FIFO(uint8_t mode,uint8_t watermark);
+    void interrupt(uint8_t source,uint8_t threthold,uint8_t duration,uint8_t Wait);
+    */
+    void (*userFunction)(anglerrates*);
+    SPI _spi;
+    DigitalOut _cs;
+    InterruptIn _int2;
+};
+
+#endif
\ No newline at end of file